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typedef Point | point_t |
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typedef Point_derivate | point_derivate_t |
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typedef std::vector< point_t, Eigen::aligned_allocator< point_t > > | t_point_t |
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typedef std::vector< point_derivate_t, Eigen::aligned_allocator< point_derivate_t > > | t_point_derivate_t |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > | base_curve_t |
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typedef CurveType | curve_t |
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typedef boost::shared_ptr< curve_t > | curve_ptr_t |
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typedef std::vector< curve_ptr_t > | t_curve_ptr_t |
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typedef std::vector< Time > | t_time_t |
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typedef piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType > | piecewise_curve_t |
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typedef Point | point_t |
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typedef Point_derivate | point_derivate_t |
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typedef Time | time_t |
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typedef Numeric | num_t |
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typedef curve_abc< Time, Numeric, Safe, point_t, point_derivate_t > | curve_t |
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typedef boost::shared_ptr< curve_t > | curve_ptr_t |
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| piecewise_curve () |
| Empty constructor. More...
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| piecewise_curve (const curve_ptr_t &cf) |
| Constructor. More...
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| piecewise_curve (const t_curve_ptr_t &curves_list) |
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| piecewise_curve (const piecewise_curve &other) |
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virtual | ~piecewise_curve () |
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virtual point_t | operator() (const Time t) const |
| Evaluation of the cubic spline at time t. More...
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bool | isApprox (const piecewise_curve_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const |
| isApprox check if other and *this are approximately equals. More...
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virtual bool | isApprox (const base_curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const |
| isApprox check if other and *this are approximately equals given a precision treshold Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent. More...
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virtual bool | operator== (const piecewise_curve_t &other) const |
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virtual bool | operator!= (const piecewise_curve_t &other) const |
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virtual point_derivate_t | derivate (const Time t, const std::size_t order) const |
| Evaluate the derivative of order N of curve at time t. More...
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piecewise_curve_t * | compute_derivate_ptr (const std::size_t order) const |
| compute_derivate return a piecewise_curve which is the derivative of this at given order More...
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template<typename Curve > |
void | add_curve (const Curve &curve) |
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void | add_curve_ptr (const curve_ptr_t &cf) |
| Add a new curve to piecewise curve, which should be defined in where is equal to of the actual piecewise curve. More...
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bool | is_continuous (const std::size_t order) |
| Check if the curve is continuous of order given. More...
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std::size_t | num_curves () const |
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curve_ptr_t | curve_at_time (const time_t t) const |
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curve_ptr_t | curve_at_index (const std::size_t idx) const |
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template<typename Bezier > |
piecewise_curve_t | convert_piecewise_curve_to_bezier () |
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template<typename Hermite > |
piecewise_curve_t | convert_piecewise_curve_to_cubic_hermite () |
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template<typename Polynomial > |
piecewise_curve_t | convert_piecewise_curve_to_polynomial () |
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virtual std::size_t | dim () const |
| Get dimension of curve. More...
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virtual Time | min () const |
| Get the minimum time for which the curve is defined. More...
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virtual Time | max () const |
| Get the maximum time for which the curve is defined. More...
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virtual std::size_t | degree () const |
| Get the degree of the curve. More...
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std::size_t | getNumberCurves () |
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template<class Archive > |
void | serialize (Archive &ar, const unsigned int version) |
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| curve_abc () |
| Constructor. More...
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virtual | ~curve_abc () |
| Destructor. More...
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bool | isEquivalent (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision(), const size_t order=5) const |
| isEquivalent check if other and *this are approximately equal by values, given a precision treshold. More...
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std::pair< time_t, time_t > | timeRange () |
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template<class Archive > |
void | serialize (Archive &, const unsigned int version) |
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template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
typedef piecewise_curve<Time, Numeric, Safe, Point, Point_derivate, CurveType> curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve_t |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Empty constructor.
Add at least one curve to call other class functions.
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Constructor.
Initialize a piecewise curve by giving the first curve.
- Parameters
-
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::piecewise_curve |
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const piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType > & |
other | ) |
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inline |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Curve >
void curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::add_curve |
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const Curve & |
curve | ) |
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inline |
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_discrete_points_to_polynomial(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_bezier(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_cubic_hermite(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_polynomial().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Add a new curve to piecewise curve, which should be defined in
where
is equal to
of the actual piecewise curve.
The curve added should be of type Curve as defined in the template.
- Parameters
-
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::add_curve(), curves::piecewise_curve< Time, Numeric, Safe, Point >::compute_derivate_ptr(), curves::bezier_curve< Time, Numeric, Safe, Point >::evalBernstein(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::piecewise_curve().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Polynomial >
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Polynomial >
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Polynomial >
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Bezier >
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Hermite >
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Polynomial >
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
virtual std::size_t curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::degree |
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const |
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inlinevirtual |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
virtual std::size_t curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::dim |
( |
| ) |
const |
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inlinevirtual |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
bool curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::is_continuous |
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const std::size_t |
order | ) |
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inline |
Check if the curve is continuous of order given.
- Parameters
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order | : order of continuity we want to check. |
- Returns
- True if the curve is continuous of order given.
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
bool curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::isApprox |
( |
const piecewise_curve_t & |
other, |
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const Numeric |
prec = Eigen::NumTraits<Numeric>::dummy_precision() |
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) |
| const |
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inline |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
virtual bool curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::isApprox |
( |
const base_curve_t * |
other, |
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const Numeric |
prec = Eigen::NumTraits< Numeric >::dummy_precision() |
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) |
| const |
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inlinevirtual |
isApprox check if other and *this are approximately equals given a precision treshold Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent.
- Parameters
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other | the other curve to check |
prec | the precision treshold, default Eigen::NumTraits<Numeric>::dummy_precision() |
- Returns
- true is the two curves are approximately equals
Implements curves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<class Archive >
void curves::piecewise_curve< Time, Numeric, Safe, Point, Point_derivate, CurveType >::serialize |
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Archive & |
ar, |
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const unsigned int |
version |
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) |
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inline |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
friend class boost::serialization::access |
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friend |
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::add_curve_ptr(), curves::piecewise_curve< Time, Numeric, Safe, Point >::compute_derivate_ptr(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_discrete_points_to_polynomial(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_bezier(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_cubic_hermite(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_polynomial(), curves::piecewise_curve< Time, Numeric, Safe, Point >::curve_at_index(), curves::piecewise_curve< Time, Numeric, Safe, Point >::curve_at_time(), curves::piecewise_curve< Time, Numeric, Safe, Point >::derivate(), curves::piecewise_curve< Time, Numeric, Safe, Point >::getNumberCurves(), curves::piecewise_curve< Time, Numeric, Safe, Point >::is_continuous(), curves::piecewise_curve< Time, Numeric, Safe, Point >::num_curves(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::operator()().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::add_curve_ptr(), curves::piecewise_curve< Time, Numeric, Safe, Point >::is_continuous(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::serialize().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::add_curve_ptr(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_discrete_points_to_polynomial(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_bezier(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_cubic_hermite(), curves::piecewise_curve< Time, Numeric, Safe, Point >::convert_piecewise_curve_to_polynomial(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::is_continuous().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::add_curve_ptr(), curves::piecewise_curve< Time, Numeric, Safe, Point >::derivate(), curves::piecewise_curve< Time, Numeric, Safe, Point >::max(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::operator()().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>
Referenced by curves::piecewise_curve< Time, Numeric, Safe, Point >::add_curve_ptr(), curves::piecewise_curve< Time, Numeric, Safe, Point >::derivate(), curves::piecewise_curve< Time, Numeric, Safe, Point >::min(), and curves::piecewise_curve< Time, Numeric, Safe, Point >::operator()().
template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point_derivate = Point, typename CurveType = curve_abc<Time, Numeric, Safe, Point, Point_derivate>>